Gripper-Aware Automatic Dense Packing of Irregular Objects

TL;DR

This paper presents a closed-loop pipeline for automatic dense packing of irregular objects, integrating perception, gripper-aware placement optimization, and force-guided execution. The system achieves high packing density and success rate. It validates the approach on a real robot with various objects.

Why It Matters

The research has practical significance in warehouse operations, where efficient packing of irregular objects can reduce storage costs and increase logistics efficiency. It also contributes to the development of robotic manipulation systems. The approach can be applied to various industries, such as e-commerce and manufacturing.

Key Findings

• Gripper-aware optimization improves packing density
• Consolidation push reduces residual clearance
• Mesh-derived geometry enhances packing success